#ifndef ODOM_MANAGER_H
#define ODOM_MANAGER_H

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>


class odom_progress
{
private:
    ros::NodeHandle node_handle_;           // ros中的句柄
    ros::NodeHandle private_node_;          // ros中的私有句柄

    ros::Publisher odom_publisher_;
    ros::Subscriber odometry_subscriber_;
    tf::TransformBroadcaster odom_broadcaster;

    nav_msgs::Odometry odom_msg_;

    tf::Transform odom_transform;
    tf::Quaternion odom_q;

public:
    odom_progress();
    ~odom_progress();

    void OdomCallback(const nav_msgs::Odometry::ConstPtr &msg);
    void odom_init(void);
};




#endif